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<li class="navelem"><a class="el" href="dir_692f640cc74363071c5c0e14282656e9.html">algorithm</a></li>  </ul>
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<div class="title">mpc.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;data_bus.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;qpOASES.hpp&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">const</span> uint16_t mpc_N = 10; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">const</span> uint16_t ch = 3;     </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">const</span> uint16_t nx = 12;    </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">const</span> uint16_t nu = 13;    </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">const</span> uint16_t ncfr_single = 4;        </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">const</span> uint16_t ncfr = ncfr_single * 2; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">const</span> uint16_t ncstxya = 1;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">const</span> uint16_t ncstxy_single = ncstxya * 4; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">const</span> uint16_t ncstxy = ncstxy_single * 2;  </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">const</span> uint16_t ncstza = 2;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">const</span> uint16_t ncstz_single = ncstza * 4;  </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">const</span> uint16_t ncstz = ncstz_single * 2;   </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">const</span> uint16_t nc = ncfr + ncstxy + ncstz; </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classMPC.html">   36</a></span>&#160;<span class="keyword">class </span><a class="code" href="classMPC.html">MPC</a>{</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="classMPC.html#af4e2bb7c17925152b578a24b3d8f3791">MPC</a>(<span class="keywordtype">double</span> dtIn);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">void</span>    <a class="code" href="classMPC.html#a41574ac96dfd97c389bb6f9c1de01c06">set_weight</a>(<span class="keywordtype">double</span> u_weight, Eigen::MatrixXd L_diag, Eigen::MatrixXd K_diag);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">void</span>    <a class="code" href="classMPC.html#a618d7e191ba58809e20dc03cc790dbe4">cal</a>();</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">void</span>    <a class="code" href="classMPC.html#a0e37e446706cbf8d8f6de14377423d9d">dataBusRead</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;Data);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">void</span>    <a class="code" href="classMPC.html#a81bff1debd03ea83a56c85da5a70caf9">dataBusWrite</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;Data);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">void</span>    <a class="code" href="classMPC.html#a01dcc1140862fcb030153849a9cb3ff9">enable</a>();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">void</span>    <a class="code" href="classMPC.html#a39bcff9265cd0e14857c190cf42c418c">disable</a>();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordtype">bool</span>    <a class="code" href="classMPC.html#a23fc46fc8d12f89adad3c19035f93579">get_ENA</a>();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordtype">void</span>    copy_Eigen_to_real_t(qpOASES::real_t* target, Eigen::MatrixXd source, <span class="keywordtype">int</span> nRows, <span class="keywordtype">int</span> nCols);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">bool</span> EN = <span class="keyword">false</span>; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="comment">//single rigid body model</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    Eigen::Matrix&lt;double, nx, nx&gt; Ac[mpc_N], </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        A[mpc_N];                            </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    Eigen::Matrix&lt;double, nx, nu&gt; Bc[mpc_N], </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        B[mpc_N];                            </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    Eigen::Matrix&lt;double, nx, 1&gt; Cc,         </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        C;                                   </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    Eigen::Matrix&lt;double, nx * mpc_N, nx&gt; Aqp;          </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    Eigen::Matrix&lt;double, nx * mpc_N, nx * mpc_N&gt; Aqp1; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    Eigen::Matrix&lt;double, nx * mpc_N, nu * mpc_N&gt; Bqp1; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    Eigen::Matrix&lt;double, nx * mpc_N, nu * ch&gt; Bqp;     </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    Eigen::Matrix&lt;double, nx * mpc_N, 1&gt; Cqp1;          </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    Eigen::Matrix&lt;double, nx * mpc_N, 1&gt; Cqp;           </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    Eigen::Matrix&lt;double, nu * ch, 1&gt; Ufe;   </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    Eigen::Matrix&lt;double, nu, 1&gt; Ufe_pre;    </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    Eigen::Matrix&lt;double, nx * mpc_N, 1&gt; Xd; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    Eigen::Matrix&lt;double, nx, 1&gt; X_cur;      </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    Eigen::Matrix&lt;double, nx, 1&gt; X_cal;      </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    Eigen::Matrix&lt;double, nx, 1&gt; X_cal_pre;  </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    Eigen::Matrix&lt;double, nx, 1&gt; dX_cal;     </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    Eigen::Matrix&lt;double, Eigen::Dynamic, Eigen::Dynamic&gt; L; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    Eigen::Matrix&lt;double, nu * ch, nu * ch&gt; K,               </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        M;                                                   </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordtype">double</span> alpha;                                            </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    Eigen::Matrix&lt;double, nu * ch, nu * ch&gt; H;               </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    Eigen::Matrix&lt;double, 1, nu * ch&gt; c;                     </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    Eigen::Matrix&lt;double, nu * ch, 1&gt; u_low,    </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        u_up;                                   </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    Eigen::Matrix&lt;double, nc * ch, nu * ch&gt; As; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    Eigen::Matrix&lt;double, nc * ch, 1&gt; bs;       </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">double</span> max[6],                              </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        min[6];                                 </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordtype">double</span> m,</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        g,                              </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        miu,                            </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        delta_foot[4];                  </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    Eigen::Matrix&lt;double, 3, 1&gt; pCoM;   </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt; pf2com, </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        pf2comd,                        </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        pe;                             </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt; pf2comi[mpc_N];</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    Eigen::Matrix&lt;double, 3, 3&gt; Ic;            </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    Eigen::Matrix&lt;double, 3, 1&gt; euli[mpc_N];   </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    Eigen::Matrix&lt;double, 3, 3&gt; R_curz[mpc_N]; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    Eigen::Matrix&lt;double, 3, 3&gt; R_cur;         </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    Eigen::Matrix&lt;double, 3, 3&gt; R_w2f, R_f2w;  </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordtype">int</span> legStateCur; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordtype">int</span> legStateNext;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">int</span> legState[10];</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordtype">double</span> dt;       </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="comment">//qpOASES</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    qpOASES::QProblem QP;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    qpOASES::real_t qp_H[nu*ch * nu*ch];</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    qpOASES::real_t qp_As[nc*ch * nu*ch];</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    qpOASES::real_t qp_c[nu*ch];</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    qpOASES::real_t qp_lbA[nc*ch];</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    qpOASES::real_t qp_ubA[nc*ch];</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    qpOASES::real_t qp_lu[nu*ch];</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    qpOASES::real_t qp_uu[nu*ch];</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    qpOASES::int_t nWSR=100;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    qpOASES::real_t cpu_time=0.1;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    qpOASES::real_t xOpt_iniGuess[nu*ch];</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordtype">double</span> qpStatus, last_nWSR, last_cpuTime;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;};</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassMPC_html_a23fc46fc8d12f89adad3c19035f93579"><div class="ttname"><a href="classMPC.html#a23fc46fc8d12f89adad3c19035f93579">MPC::get_ENA</a></div><div class="ttdeci">bool get_ENA()</div><div class="ttdoc">get current MPC enable state</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8cpp_source.html#l00489">mpc.cpp:489</a></div></div>
<div class="ttc" id="aclassMPC_html_a0e37e446706cbf8d8f6de14377423d9d"><div class="ttname"><a href="classMPC.html#a0e37e446706cbf8d8f6de14377423d9d">MPC::dataBusRead</a></div><div class="ttdeci">void dataBusRead(DataBus &amp;Data)</div><div class="ttdoc">read data from data bus</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8cpp_source.html#l00088">mpc.cpp:88</a></div></div>
<div class="ttc" id="aclassMPC_html_a01dcc1140862fcb030153849a9cb3ff9"><div class="ttname"><a href="classMPC.html#a01dcc1140862fcb030153849a9cb3ff9">MPC::enable</a></div><div class="ttdeci">void enable()</div><div class="ttdoc">enable MPC calculation</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8cpp_source.html#l00482">mpc.cpp:482</a></div></div>
<div class="ttc" id="aclassMPC_html"><div class="ttname"><a href="classMPC.html">MPC</a></div><div class="ttdoc">This class implements the model predictive controller.</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8h_source.html#l00036">mpc.h:36</a></div></div>
<div class="ttc" id="aclassMPC_html_a618d7e191ba58809e20dc03cc790dbe4"><div class="ttname"><a href="classMPC.html#a618d7e191ba58809e20dc03cc790dbe4">MPC::cal</a></div><div class="ttdeci">void cal()</div><div class="ttdoc">run MPC</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8cpp_source.html#l00167">mpc.cpp:167</a></div></div>
<div class="ttc" id="aclassMPC_html_a41574ac96dfd97c389bb6f9c1de01c06"><div class="ttname"><a href="classMPC.html#a41574ac96dfd97c389bb6f9c1de01c06">MPC::set_weight</a></div><div class="ttdeci">void set_weight(double u_weight, Eigen::MatrixXd L_diag, Eigen::MatrixXd K_diag)</div><div class="ttdoc">Set the weight of cost function.</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8cpp_source.html#l00074">mpc.cpp:74</a></div></div>
<div class="ttc" id="aclassMPC_html_af4e2bb7c17925152b578a24b3d8f3791"><div class="ttname"><a href="classMPC.html#af4e2bb7c17925152b578a24b3d8f3791">MPC::MPC</a></div><div class="ttdeci">MPC(double dtIn)</div><div class="ttdoc">Construct a new MPC object.</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8cpp_source.html#l00012">mpc.cpp:12</a></div></div>
<div class="ttc" id="aclassMPC_html_a39bcff9265cd0e14857c190cf42c418c"><div class="ttname"><a href="classMPC.html#a39bcff9265cd0e14857c190cf42c418c">MPC::disable</a></div><div class="ttdeci">void disable()</div><div class="ttdoc">disable MPC calculation</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8cpp_source.html#l00485">mpc.cpp:485</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="aclassMPC_html_a81bff1debd03ea83a56c85da5a70caf9"><div class="ttname"><a href="classMPC.html#a81bff1debd03ea83a56c85da5a70caf9">MPC::dataBusWrite</a></div><div class="ttdeci">void dataBusWrite(DataBus &amp;Data)</div><div class="ttdoc">write date to data bus</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8cpp_source.html#l00453">mpc.cpp:453</a></div></div>
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